I have problems with my code

Question

0 个投票

I am trying to control 3 servos with arduino/matlab:

(2) MG995

(1) SG90

Creating a Scara robot where the objective will be to play circles and tacks on a square plane of nine sections.

At the moment our goal is to make the pen or pencil where it will go through each section to draw the circle or cross out the centroid of each section to only identify coordinates.

Can anyone help us please?

But when we run the program, our robot does not move at all.

clear bar;
clc;
close all;
I=input('¿A que seccion te gustaria ir?');
grados=1/180;
a=arduino('COM4','Uno','Libraries','Servo');
 s1=servo(a,'D3');
 writePosition(s1,grados*50);
 pause(1);
 s2=servo(a,'D5');
 writePosition(s2,grados*90);
 pause(1);
 s3=servo(a,'D6');
 writePosition(s3,grados*20);
 pause(1);
switch I
    case 1
        s1=servo(a,'D3');
        writePosition(s1,grados*38);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*20);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 2
        s1=servo(a,'D3');
        writePosition(s1,grados*58);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*16);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 3
        s1=servo(a,'D3');
        writePosition(s1,grados*100);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*23);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 4
        s1=servo(a,'D3');
        writePosition(s1,grados*43);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*43);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 5
        s1=servo(a,'D3');
        writePosition(s1,grados*56);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*43);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 6
        s1=servo(a,'D3');
        writePosition(s1,grados*75);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*47);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 7
        s1=servo(a,'D3');
        writePosition(s1,grados*55);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*75);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    case 8
        s1=servo(a,'D3');
        writePosition(s1,grados*55);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*68);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
        
    case 9
        s1=servo(a,'D3');
        writePosition(s1,grados*82);
        pause(1);
        s2=servo(a,'D5');
        writePosition(s2,grados*81);
        pause(1);
        s3=servo(a,'D6');
        writePosition(s3,grados*20);
        pause(1);
    otherwise
end

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darova 2021-8-8

在 MATLAB Online 中打开

Make your code more readable using arrays

s1a = [38 58 100 43 56 75 55 55 82];
% s2a = 
% s3a = 
s1=servo(a,'D3');
writePosition(s1,grados*s1a(I));
pause(1);
s2=servo(a,'D5');
writePosition(s2,grados*s2a(I));
pause(1);
s3=servo(a,'D6');
writePosition(s3,grados*s3a(I));
pause(1);
    